From 53cfe58db6ceccf3aeeb7d168db028a2700b8be9 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 8 Apr 2023 22:04:52 +0800 Subject: [PATCH] update --- .vscode/settings.json | 5 +- README.md | 2 +- app/MDK-ARM/app.uvguix.h_zha | 139 +++++++++++++++++++++++-------------------- app/MDK-ARM/app.uvoptx | 43 ++++++++++++- app/MDK-ARM/app.uvprojx | 10 ++++ dep/libtrinamic | 2 +- src/port.cpp | 31 +++------- src/port.hpp | 2 +- src/umain.cpp | 35 ++++++++++- 9 files changed, 175 insertions(+), 94 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index cdf3583..fef69bb 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -11,6 +11,9 @@ "port.h": "c", "compare": "c", "tmc4361a_register.h": "c", - "spi.h": "c" + "spi.h": "c", + "atomic": "cpp", + "memory": "cpp", + "random": "cpp" } } \ No newline at end of file diff --git a/README.md b/README.md index 599d0f4..72ec3f0 100644 --- a/README.md +++ b/README.md @@ -9,7 +9,7 @@ STM32F407VET6示例工程 ``` - 1. 实现方法写入和读取一个寄存器 + 1. 实现方法写入和读取一个寄存器 OK 2. 初始化系统实现从tmc2130读取一个数值 3. 控制tmc4361使得电机转起来 4. 配置闭环寄存器使得电机闭环转起来 diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index e08a159..e8ecf57 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp + D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\dep\libtrinamic\src\ic @@ -15,17 +15,17 @@ 38003 Registers - 162 163 + 162 192 346 Code Coverage - 860 160 + 860 442 204 Performance Analyzer - 1020 + 1020 153 153 282 @@ -70,7 +70,7 @@ 466 Source Browser 500 - 300 + 166 @@ -93,8 +93,8 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 @@ -110,8 +110,8 @@ 0 - 1673 - 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898 @@ -3603,11 +3603,11 @@ 0 100 - 8 + 2 ../Core/Src/main.c 0 - 65 + 71 70 1 @@ -3616,7 +3616,7 @@ startup_stm32f407xx.s 0 - 170 + 167 174 1 @@ -3624,9 +3624,9 @@ ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC4361A\TMC4361A.c - 0 - 69 - 90 + 3 + 172 + 199 1 0 @@ -3660,18 +3660,18 @@ ..\..\dep\libtrinamic\src\ic\tmc4361A.cpp - 27 - 1 - 7 + 0 + 75 + 101 1 0 ..\..\src\umain.cpp - 0 - 1 - 9 + 46 + 5 + 13 1 0 @@ -3679,7 +3679,7 @@ ..\..\src\port.cpp 4 - 20 + 21 47 1 @@ -3696,9 +3696,18 @@ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c + 3 + 3170 + 3179 + 1 + + 0 + + + ..\..\dep\libtrinamic\src\ic\tmc4361A.hpp 0 - 3178 - 3183 + 21 + 22 1 0 diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index c235064..e8dc81a 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -153,7 +153,24 @@ -U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F407VETx$CMSIS\Flash\STM32F4xx_512.FLM) - + + + 0 + 0 + 13 + 1 +
134231382
+ 0 + 0 + 0 + 0 + 0 + 1 + ..\..\src\umain.cpp + + \\app\../../src/umain.cpp\13 + + 0 @@ -728,6 +745,30 @@ 0 0 + + 7 + 40 + 1 + 0 + 0 + 0 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC2160\TMC2160.c + TMC2160.c + 0 + 0 + + + 7 + 41 + 8 + 0 + 0 + 0 + ..\..\dep\libtrinamic\src\ic\tmc2160.cpp + tmc2160.cpp + 0 + 0 + diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx index 5ba5e4d..ee485b7 100644 --- a/app/MDK-ARM/app.uvprojx +++ b/app/MDK-ARM/app.uvprojx @@ -965,6 +965,16 @@ 1 ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ramp\LinearRamp1.c + + TMC2160.c + 1 + ..\..\dep\libtrinamic\IFLYTOP-TMC-API\tmc\ic\TMC2160\TMC2160.c + + + tmc2160.cpp + 8 + ..\..\dep\libtrinamic\src\ic\tmc2160.cpp + diff --git a/dep/libtrinamic b/dep/libtrinamic index fda8617..7eb4b59 160000 --- a/dep/libtrinamic +++ b/dep/libtrinamic @@ -1 +1 @@ -Subproject commit fda8617dbb4ad8624cf954e5ccc3e93f5fcb5ac2 +Subproject commit 7eb4b595b55d551e62e5686cc5c478a54709787b diff --git a/src/port.cpp b/src/port.cpp index 11d6557..1385ffe 100644 --- a/src/port.cpp +++ b/src/port.cpp @@ -29,29 +29,17 @@ void port_do_debug_light_state() { HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN); } } - -void port_spi_cs_select(uint8_t channel, bool select) { - if (channel == MOTOR_1_TMC4361A_CHANNEL) { - HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET); - } else if (channel == MOTOR_1_TMC2160_CHANNEL) { - /** - * @brief TMC2160 连接到了 TMC4361A 的 SPI 接口上，所以不需要单独的片选 - */ - return; - } -} - void port_delay_us(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); } -void port_motor_spi_write_and_read(uint8_t channel, uint8_t* data, size_t length) { +void port_spi_cs_select(bool select) { // + HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET); +} +void port_tmc4361_spi_write_and_read(uint8_t* data, size_t length) { // - if (channel == MOTOR_1_TMC4361A_CHANNEL) { - port_spi_cs_select(channel, false); - port_delay_us(1); - HAL_SPI_TransmitReceive(&hspi1, data, data, length, 1000); - port_spi_cs_select(channel, true); - } else if (channel == MOTOR_1_TMC2160_CHANNEL) { - } + port_spi_cs_select(false); + port_delay_us(1); + HAL_SPI_TransmitReceive(&hspi1, data, data, length, 1000); + port_spi_cs_select(true); } void port_tmc_extern_clk_enable() { @@ -65,12 +53,11 @@ void port_tmc_extern_clk_enable() { HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_4); #endif } - int32_t port_tmc4361_get_version(uint8_t channel) { int value; uint8_t data[5]; data[0] = 0x7f; - port_motor_spi_write_and_read(channel, &data[0], 5); + port_tmc4361_spi_write_and_read(&data[0], 5); value = ((uint32_t)data[1] << 24) | ((uint32_t)data[2] << 16) | (data[3] << 8) | data[4]; return value; } diff --git a/src/port.hpp b/src/port.hpp index 342514b..47a6add 100644 --- a/src/port.hpp +++ b/src/port.hpp @@ -7,6 +7,6 @@ void port_delay_us(uint32_t us); /******************************************************************************* * tmc芯片驱动相关 * *******************************************************************************/ -void port_motor_spi_write_and_read(uint8_t channel, uint8_t *data, size_t length); +void port_tmc4361_spi_write_and_read(uint8_t *data, size_t length); void port_tmc_extern_clk_enable(); int32_t port_tmc4361_get_version(uint8_t channel) ; diff --git a/src/umain.cpp b/src/umain.cpp index fd6f32f..1d37aae 100644 --- a/src/umain.cpp +++ b/src/umain.cpp @@ -2,20 +2,51 @@ #include #include "libiflytop_micro\stm32\basic\basic.h" +#include "libtrinamic/src/ic/tmc2160.hpp" #include "libtrinamic\src\ic\tmc4361A.hpp" #include "port.hpp" #include "project_board.hpp" #define TAG "main" -void libtrinamic_readWriteArray(uint8_t channel, uint8_t *data, size_t length) {} +class TMC4361AImpl : public TMC4361A { + virtual void setResetPinState(bool state){}; + virtual void setFREEZEPinState(bool state){}; + virtual void setENNPinState(bool state){}; + virtual bool getTargetReachedPinState() { return false; }; + virtual void sleepus(int32_t us){}; + virtual void readWriteArray(uint8_t *data, size_t length) { // + if (m_channel == MOTOR_1_TMC4361A_CHANNEL) { + port_tmc4361_spi_write_and_read(data, length); + } + }; +}; -static TMC4361A tmc4361motor1; +class TMC2160Impl : public TMC2160 { + TMC4361A *m_tmc4361; + + public: + void initialize(uint8_t channel, TMC4361A *tmc4361) { + TMC2160::initialize(channel); + m_tmc4361 = tmc4361; + } + + virtual void setENNPinState(bool state){}; + virtual void sleepus(int32_t us){}; + virtual void readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; +}; + +static TMC4361AImpl tmc4361motor1; +static TMC2160Impl tmc2160motor1; extern "C" { int umain(int argc, char const *argv[]) { sys_loggger_enable(true); // tmc4361motor1.init(); + + tmc4361motor1.initialize(MOTOR_1_TMC4361A_CHANNEL, TMC4361A::IC_TMC2160); + tmc2160motor1.initialize(MOTOR_1_TMC2160_CHANNEL, &tmc4361motor1); + ZLOGI(TAG, "VERSION:%s", VERSION); port_tmc_extern_clk_enable();